Merge branch 'main' into main

Author: sjahr

.github/workflows/ci.yaml

@@ -97,32 +97,35 @@ jobs:
         with:
           file: moveit2.repos
       - name: Cache upstream workspace
-        uses: pat-s/always-upload-cache@v3.0.11
+        uses: actions/cache@v4
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
+          save-always: true
         env:
           CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-${{ matrix.env.IMAGE }}-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: Cache target workspace
         if: "!matrix.env.CCOV"
-        uses: pat-s/always-upload-cache@v3.0.11
+        uses: actions/cache@v4
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
+          save-always: true
         env:
           CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
       - name: Cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
+        uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ${{ env.CACHE_PREFIX }}
+          save-always: true
         env:
           CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}
       - name: Configure ccache

.github/workflows/sonar.yaml

@@ -71,21 +71,23 @@ jobs:
         with:
           file: moveit2.repos
       - name: Cache upstream workspace
-        uses: pat-s/always-upload-cache@v3.0.11
+        uses: actions/cache@v4
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
+          save-always: true
         env:
           CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-rolling-ci-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
       - name: Cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
+        uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-rolling-ci-ccov-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ccache-rolling-ci-ccov-${{ github.sha }}
             ccache-rolling-ci-ccov
+          save-always: true
       - name: Configure ccache
         run: |
           mkdir -p ${{ env.CCACHE_DIR }}

.github/workflows/tutorial_docker.yaml

@@ -50,7 +50,7 @@ jobs:
           path: .ccache
           key: docker-tutorial-ccache-${{ matrix.ROS_DISTRO }}-${{ hashFiles( '.docker/tutorial-source/Dockerfile' ) }}
       - name: inject ccache into docker
-        uses: reproducible-containers/buildkit-cache-dance@v2.1.4
+        uses: reproducible-containers/buildkit-cache-dance@v3.1.0
         with:
           cache-source: .ccache
           cache-target: /root/.ccache/

moveit2.repos

@@ -8,3 +8,7 @@ repositories:
     type: git
     url: https://github.com/ros-planning/moveit_resources.git
     version: ros2
+  generate_parameter_library:
+    type: git
+    url: https://github.com/PickNikRobotics/generate_parameter_library.git
+    version: 0.3.7

moveit_configs_utils/moveit_configs_utils/launches.py

@@ -197,7 +197,12 @@ def generate_move_group_launch(moveit_config):
         DeclareBooleanLaunchArg("publish_monitored_planning_scene", default_value=True)
     )
     # load non-default MoveGroup capabilities (space separated)
-    ld.add_action(DeclareLaunchArgument("capabilities", default_value=""))
+    ld.add_action(
+        DeclareLaunchArgument(
+            "capabilities",
+            default_value=moveit_config.move_group_capabilities["capabilities"],
+        )
+    )
     # inhibit these default MoveGroup capabilities (space separated)
     ld.add_action(DeclareLaunchArgument("disable_capabilities", default_value=""))
 

moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py

@@ -173,20 +173,20 @@ def __init__(
         if setup_assistant_file.exists():
             setup_assistant_yaml = load_yaml(setup_assistant_file)
             config = setup_assistant_yaml.get("moveit_setup_assistant_config", {})
-            urdf_config = config.get("urdf", config.get("URDF"))
-            if urdf_config and self.__urdf_package is None:
-                self.__urdf_package = Path(
-                    get_package_share_directory(urdf_config["package"])
-                )
-                self.__urdf_file_path = Path(urdf_config["relative_path"])
 
-                if (xacro_args := urdf_config.get("xacro_args")) is not None:
+            if urdf_config := config.get("urdf", config.get("URDF")):
+                if self.__urdf_package is None:
+                    self.__urdf_package = Path(
+                        get_package_share_directory(urdf_config["package"])
+                    )
+                    self.__urdf_file_path = Path(urdf_config["relative_path"])
+
+                if xacro_args := urdf_config.get("xacro_args"):
                     self.__urdf_xacro_args = dict(
                         arg.split(":=") for arg in xacro_args.split(" ") if arg
                     )
 
-            srdf_config = config.get("srdf", config.get("SRDF"))
-            if srdf_config:
+            if srdf_config := config.get("srdf", config.get("SRDF")):
                 self.__srdf_file_path = Path(srdf_config["relative_path"])
 
         if not self.__urdf_package or not self.__urdf_file_path:

moveit_core/CMakeLists.txt

@@ -68,6 +68,7 @@ add_subdirectory(version)
 
 install(
   TARGETS collision_detector_bullet_plugin
+          collision_detector_fcl_plugin
           moveit_acceleration_filter
           moveit_acceleration_filter_parameters
           moveit_butterworth_filter

moveit_core/collision_detection/src/allvalid/collision_env_allvalid.cpp

@@ -46,7 +46,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection.world_allvalid");
+  return moveit::getLogger("moveit.core.collision_detection.env_allvalid");
 }
 }  // namespace
 

moveit_core/collision_detection/src/collision_common.cpp

@@ -46,7 +46,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_common");
+  return moveit::getLogger("moveit.core.collision_detection.collision_common");
 }
 }  // namespace
 

moveit_core/collision_detection/src/collision_env.cpp

@@ -44,7 +44,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_env");
+  return moveit::getLogger("moveit.core.collision_detection_env");
 }
 }  // namespace
 

moveit_core/collision_detection/src/collision_matrix.cpp

@@ -47,7 +47,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_matrix");
+  return moveit::getLogger("moveit.core.collision_detection_matrix");
 }
 }  // namespace
 

moveit_core/collision_detection/src/collision_octomap_filter.cpp

@@ -49,7 +49,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_octomap_filter");
+  return moveit::getLogger("moveit.core.collision_detection_octomap_filter");
 }
 }  // namespace
 

moveit_core/collision_detection/src/collision_plugin_cache.cpp

@@ -45,7 +45,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_plugin_cache");
+  return moveit::getLogger("moveit.core.collision_detection_plugin_cache");
 }
 }  // namespace
 

moveit_core/collision_detection/src/world.cpp

@@ -46,7 +46,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_world");
+  return moveit::getLogger("moveit.core.collision_detection_world");
 }
 }  // namespace
 

moveit_core/collision_detection_bullet/src/bullet_integration/ros_bullet_utils.cpp

@@ -115,6 +115,6 @@ Eigen::Isometry3d urdfPose2Eigen(const urdf::Pose& pose)
 
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_bullet");
+  return moveit::getLogger("moveit.core.collision_detection_bullet");
 }
 }  // namespace collision_detection_bullet

moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp

@@ -56,7 +56,7 @@ namespace cb = collision_detection_bullet;
 
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection.bullet_test");
+  return moveit::getLogger("moveit.core.collision_detection.bullet_test");
 }
 
 /** \brief Brings the panda robot in user defined home position */

moveit_core/collision_detection_fcl/src/collision_common.cpp

@@ -60,7 +60,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("moveit_collision_detection_fcl");
+  return moveit::getLogger("moveit.core.moveit_collision_detection_fcl");
 }
 }  // namespace
 

moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp

@@ -55,7 +55,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("moveit_collision_detection_fcl");
+  return moveit::getLogger("moveit.core.collision_detection_fcl");
 }
 
 // Check whether this FCL version supports the requested computations

moveit_core/collision_detection_fcl/test/test_fcl_env.cpp

@@ -66,7 +66,7 @@ inline void setToHome(moveit::core::RobotState& panda_state)
 
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("moveit_collision_detection_fcl.test.test_fcl_env");
+  return moveit::getLogger("moveit.core.collision_detection_fcl.test_fcl_env");
 }
 
 class CollisionDetectionEnvTest : public testing::Test

moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h

@@ -373,7 +373,8 @@ class PosedBodySphereDecompositionVector
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  PosedBodySphereDecompositionVector() : logger_(moveit::getLogger("posed_body_sphere_decomposition_vector"))
+  PosedBodySphereDecompositionVector()
+    : logger_(moveit::getLogger("moveit.core.posed_body_sphere_decomposition_vector"))
   {
   }
 
@@ -447,7 +448,7 @@ class PosedBodyPointDecompositionVector
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  PosedBodyPointDecompositionVector() : logger_(moveit::getLogger("posed_body_point_decomposition_vector"))
+  PosedBodyPointDecompositionVector() : logger_(moveit::getLogger("moveit.core.posed_body_point_decomposition_vector"))
   {
   }
 

moveit_core/collision_distance_field/src/collision_common_distance_field.cpp

@@ -50,7 +50,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_common_distance_field");
+  return moveit::getLogger("moveit.core.collision_common_distance_field");
 }
 }  // namespace
 

moveit_core/collision_distance_field/src/collision_distance_field_types.cpp

@@ -52,7 +52,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_distance_field_types");
+  return moveit::getLogger("moveit.core.collision_distance_field_types");
 }
 }  // namespace
 

moveit_core/collision_distance_field/src/collision_env_distance_field.cpp

@@ -61,7 +61,7 @@ CollisionEnvDistanceField::CollisionEnvDistanceField(
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
     double size_z, const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution,
     double collision_tolerance, double max_propogation_distance, double /*padding*/, double /*scale*/)
-  : CollisionEnv(robot_model), logger_(moveit::getLogger("collision_robot_distance_field"))
+  : CollisionEnv(robot_model), logger_(moveit::getLogger("moveit.core.collision_robot_distance_field"))
 {
   initialize(link_body_decompositions, Eigen::Vector3d(size_x, size_y, size_z), origin, use_signed_distance_field,
              resolution, collision_tolerance, max_propogation_distance);
@@ -80,7 +80,8 @@ CollisionEnvDistanceField::CollisionEnvDistanceField(
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
     double size_z, const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution,
     double collision_tolerance, double max_propogation_distance, double padding, double scale)
-  : CollisionEnv(robot_model, world, padding, scale), logger_(moveit::getLogger("collision_robot_distance_field"))
+  : CollisionEnv(robot_model, world, padding, scale)
+  , logger_(moveit::getLogger("moveit.core.collision_robot_distance_field"))
 {
   initialize(link_body_decompositions, Eigen::Vector3d(size_x, size_y, size_z), origin, use_signed_distance_field,
              resolution, collision_tolerance, max_propogation_distance);

moveit_core/constraint_samplers/src/constraint_sampler.cpp

@@ -45,7 +45,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("constraint_sampler");
+  return moveit::getLogger("moveit.core.constraint_sampler");
 }
 }  // namespace
 

moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp

@@ -48,7 +48,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("constraint_sampler_manager");
+  return moveit::getLogger("moveit.core.constraint_sampler_manager");
 }
 }  // namespace
 

moveit_core/constraint_samplers/src/constraint_sampler_tools.cpp

@@ -49,7 +49,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("constraint_sampler_tools");
+  return moveit::getLogger("moveit.core.constraint_sampler_tools");
 }
 }  // namespace
 

moveit_core/constraint_samplers/src/default_constraint_samplers.cpp

@@ -47,7 +47,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("default_constraint_samplers");
+  return moveit::getLogger("moveit.core.default_constraint_samplers");
 }
 }  // namespace
 

moveit_core/constraint_samplers/src/union_constraint_sampler.cpp

@@ -47,7 +47,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("union_constraint_sampler");
+  return moveit::getLogger("moveit.core.union_constraint_sampler");
 }
 }  // namespace
 

moveit_core/constraint_samplers/test/pr2_arm_ik.cpp

@@ -54,7 +54,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("moveit_constaint_samplers.test.pr2_arm_ik");
+  return moveit::getLogger("moveit.core.moveit_constaint_samplers.test.pr2_arm_ik");
 }
 }  // namespace
 

moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp

@@ -53,7 +53,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("moveit_constraint_samplers.test.pr2_arm_kinematics_plugin");
+  return moveit::getLogger("moveit.core.moveit_constraint_samplers.test.pr2_arm_kinematics_plugin");
 }
 }  // namespace
 

moveit_core/distance_field/src/distance_field.cpp

@@ -51,7 +51,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("distance_field");
+  return moveit::getLogger("moveit.core.distance_field");
 }
 }  // namespace
 

moveit_core/distance_field/src/propagation_distance_field.cpp

@@ -49,7 +49,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("propagation_distance_field");
+  return moveit::getLogger("moveit.core.propagation_distance_field");
 }
 }  // namespace